Cutter blade and processing device

ABSTRACT

A cutter blade and a processing device enable processing of a composite material, for example, FRP, without using an expensive cutter blade and employing a special processing method. 
     In a processing device ( 1 ) in which pneumatic cylinders ( 5 A,  5 A) are provided in a six-axis vertical articulated robot ( 3 ) and a cutter blade ( 10 ) is provided in the six-axis vertical articulated robot ( 3 ) via the pneumatic cylinders ( 5 A,  5 A), the cutter blade ( 10 ) includes: profiling portion ( 10 B) that corresponds to a resin molding ( 20 ); and a cutting edge portion ( 10 A) including a blade edge positioned in the vicinity of the profiling portion ( 10 B) and having a wedge angle (( 3 ) of 15° to 120°, the profiling portion ( 10 B) and the cutting edge portion ( 10 A) being integrated.

TECHNICAL FIELD

The present invention relates to a cutter blade and a processing device for performing, e.g., deburring processing while profiling a part of a workpiece.

BACKGROUND ART

Conventionally, as cutter blades and processing devices for performing, e.g., deburring of a workpiece, those that perform processing while profiling a part of a workpiece have been known (see, for example, Patent Literature 1).

CITATION LIST Patent Literature

Patent Literature 1:

-   -   Japanese Patent No. 4231895

SUMMARY OF INVENTION Technical Problem

In recent years, composite materials with a strength enhanced by mixing of fiber into plastic, such as FRP, CFRP and GFRP, have emerged and have been heavily used in various industrial products. Resin products using such composite materials easily cause damage such as chipping, breakage and/or abrasion of cutting tools because of the characteristics of the resin products, resulting decrease in lifetime of the tools such as cutter blades.

Therefore, it is necessary to use expensive tools that are less likely to be damaged and/or employ special processing methods, resulting in increase in costs of the processing devices.

An object of the present invention is to solve the aforementioned problems of the conventional techniques and provide a cutter blade and a processing device that enable processing of a composite material, for example, FRP without using an expensive cutter blade and employing a special processing method.

Solution to Problem

In order to solve the aforementioned problems, a cutter blade according to the present invention includes: a profiling portion that corresponds to a workpiece, and a cutting edge portion including a blade edge positioned in a vicinity of the profiling portion and having a wedge angle of 15° to 120°, the profiling portion and the cutting edge portion being integrated.

According to this configuration, the wedge angle is made to be large compared to those of the conventional techniques, enabling processing of composite materials such as FRP, CFRP and GFRP, which are difficult-to-cut materials, without damage, such as chipping, of the cutting edge portion.

Therefore, the need to use an expensive cutter blade and/or employ a special processing method for lifetime extension can be eliminated, enabling suppression of increase in costs of a processing device. Also, the provision of the profiling portion enables the cutting edge portion to be restrained from digging into the workpiece.

In the above configuration, the blade edge of the cutting edge portion may be positioned behind the profiling portion. This configuration enables, even if there is a deformation in the workpiece, further restraint of the cutting edge portion from digging into the workpiece.

Also, in the above configuration, the blade edge of the cutting edge portion may be positioned ahead of the profiling portion. According to this configuration, a surface forming the blade edge can be used as the profiling portion, and thus the cutter blade can be made into a simple shape, enabling suppression of costs.

Also, in the above configuration, a cutter blade body may have a flat plate shape. According to this configuration, the cutter blade body has a flat plate shape, enabling the cutter blade body to easily following the workpiece during processing and thus enabling enhancement in processability.

Also, a processing device according to the present invention is a processing device including a cutter blade provided in a robot via a biasing mechanism, the cutter blade including a profiling portion that corresponds to a workpiece, and a cutting edge portion including a blade edge positioned in a vicinity of the profiling portion and having a wedge angle of 15° to 120°, the profiling portion and the cutting edge portion being integrated.

According to the above configuration, the wedge angle of the cutting edge portion included in the processing device is made to be large compared to those of the conventional techniques, enabling processing of composite materials such as FRP, CFRP and GFRP, which are difficult-to-cut materials, without damage, such as chipping, of the cutting edge portion. Therefore, the need to use an expensive cutter blade and/or employ a special processing method for lifetime extension can be eliminated, enabling suppression of increase in costs of the processing device. Also, the provision of the profiling portion enables the cutting edge portion to be restrained from digging into the workpiece.

Advantageous Effects of Invention

According to the present invention, a wedge angle is made to be large compared to those of the conventional techniques, enabling processing of composite materials such as FRP, CFRP and GFRP, which are difficult-to-cut materials, without damage, such as chipping, of a cutting edge portion.

Therefore, the need to use an expensive cutter blade and/or employ a special processing method for lifetime extension can be eliminated, enabling suppression of increase in costs of a processing device. Also, provision of a profiling portion enables a cutting edge portion to be restrained from digging into a workpiece.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a diagram illustrating a processing device according to a first embodiment of the present invention.

FIG. 2 is an enlarged diagram of an arm distal end portion of the processing device.

FIG. 3 is a plan view illustrating a cutter blade and a part of attachment of the cutter blade.

FIG. 4 is an enlarged perspective view illustrating the cutter blade and the part of attachment of the cutter blade in deburring operation.

FIG. 5 is a cross-sectional view illustrating a distal end part of the cutter blade.

FIG. 6 is a cross-sectional view illustrating another mode of use of the cutter blade according to the first embodiment.

FIG. 7 is a cross-sectional view illustrating a distal end part of a cutter blade according to a second embodiment of the present invention.

FIG. 8 is a cross-sectional view illustrating a distal end part of a cutter blade according to a third embodiment of the present invention.

FIG. 9 is a cross-sectional view illustrating a distal end part of a cutter blade according to a fourth embodiment of the present invention.

FIG. 10 is a cross-sectional view illustrating a distal end part of a cutter blade according to a fifth embodiment of the present invention.

FIG. 11 is a cross-sectional view illustrating a distal end part of a cutter blade according to a sixth embodiment of the present invention.

DESCRIPTION OF EMBODIMENTS

An embodiment of the present invention will be described below with reference to the drawings.

First Embodiment

FIG. 1 is a diagram illustrating a processing device 1 according to a first embodiment of the present invention.

The processing device 1 is a deburring device, and includes what is called a six-axis vertical articulated robot 3, and from among joints 3A to 3F of the six-axis vertical articulated robot 3, a cutter blade 10 is held by an arm distal end portion 3G of the distal-most end joint 3F.

FIG. 2 is an enlarged diagram illustrating the arm distal end portion 3G of the processing device 1.

An air-driven sliding table 4 is attached to the arm distal end portion 3G, and a sliding section 5 is movably provided on the sliding table 4. The sliding section 5 is driven by a pair of pneumatic cylinders 5A and 5A, which are actuated by air pressures applied to a pair of air supply ports (not illustrated) provided on opposite sides of the arm distal end portion 3G.

Since the pneumatic cylinders 5A and 5A are disposed so as to face each other across the sliding section 5, respective pressing forces of pressing the sliding section 5 in opposite directions are generated by the air pressures supplied to the air supply ports communicating with the respective pneumatic cylinders 5A. Depending on a balance between these pressing forces, a position of the sliding section 5 is movable in an arrow A direction, that is, the sliding section 5 floats relative to a resin molding described later, whereby the sliding section 5 provides a floating mechanism.

Each of the pressures applied to the respective air supply ports provided on the opposite sides of the arm distal end portion 3G can independently be controlled so as to achieve a balance between the pressures. If a weight of a tool becomes a load because of a position of the tool, the pressures applied to the respective air supply ports are automatically adjusted according to the position of the tool so as to cancel the weight of the tool out.

An ultrasonic transducer holder 6 is attached to the sliding section 5, which floats relative to a resin molding, and an ultrasonic transducer (transducer, vibrator or oscillator) 7 is attached to the ultrasonic transducer holder 6. The ultrasonic transducer 7 is not limited to a transducer using ultrasound.

FIG. 3 is a plan view illustrating a cutter blade 10 and a part of attachment of the cutter blade 10, and FIG. 4 is an enlarged perspective view illustrating the cutter blade 10 and the part of the attachment of the cutter blade 10 during deburring operation.

As illustrated in FIGS. 3 and 4, the cutter blade 10 is fixed at a distal end of the ultrasonic transducer 7.

The cutter blade 10 includes a front end surface 10F and a rear end surface 10R, and is brought into abutment with a base portion (root) of a burr 22 formed on a partition line 21 of a resin molding 20 of a composite material, for example, CFRP (or FRP or GFRP or the like), which is an object to be processed, and surface portions 23A and 23B of the resin molding 20 and cuts the burr 22 off.

In this case, a setback angle φ of the front end surface 10F, which is arbitrarily set, is set to around 10°.

In the present embodiment, the cutter blade 10 includes: a cutting edge portion 10A to be brought into abutment with the root of the burr 22 and cut the burr 22 off, the cutting edge portion 10A having a width W of, for example, around 10 mm; curved profiling portion 10B to be brought into abutment with and profile the respective surface portions 23A and 23B of the resin molding 20; and a flat plate-shaped cutter blade body 10C with the cutting edge portion 10A and the profiling portion 10B formed therein.

In this case, the width W of the cutting edge portion 10A can arbitrarily be changed according to, e.g., the shape of the burr formed corresponding to the object to be processed.

Also, besides deburring processing, the cutter blade 10 can perform shaving processing of shaving a ridge, a projection or the like formed on a surface of a resin molding 20 like a chisel or the like to flatten the surface of the resin molding 20. In this case, the cutter blade 10 is biased against the resin molding 20, which is similar to the case described above.

FIG. 5 is a cross-sectional view illustrating a distal end part of the cutter blade 10.

The cutting edge portion 10A of the cutter blade 10 includes a cutting edge 10 g, which is a ridgeline formed by a rake surface 10 e and a side surface 10 f positioned on the resin molding 20 side of the cutter blade 10.

A wedge angle β of the cutting edge portion 10A of the cutter blade 10 is set to 15° to 80°. In the mode of use in FIG. 5, the side surface 10 f of the cutter blade 10 is in abutment with a surface of the resin molding 20, and a total of the wedge angle β and a positive rake angle α is 90°.

Also, the profiling portion 10B of the cutter blade 10 is a part to be pressed against the respective surface portions 23A and 23B (only the surface portion 23B illustrated) of the resin molding 20 by the floating mechanism, is positioned ahead of (in the vicinity of) the cutting edge 10 g (blade edge) of the cutting edge portion 10A in an advancement direction (arrow B direction) and includes a rounded surface portion 10B1 that has a circular arc shape in cross section and extends forward from the cutting edge 10 g of the cutting edge portion 10A in the advancement direction (arrow B direction).

For example, if the wedge angle β of the cutting edge portion 10A exceeds 80°, the cutting edge portion 10A cuts poorly. Also, if the wedge angle β of the cutting edge portion 10A is less than 15°, damage such as chipping, breakage and/or abrasion of the cutting edge portion 10A is likely to occur.

On the other hand, in the present embodiment, as described above, as a result of a relatively-large wedge angle β of 15° to 80° being set for the cutting edge portion 10A, even with a difficult-to-cut material like a composite material such as FRP, CFRP or GFRP, damage such as chipping, breakage and/or abrasion of the cutting edge portion 10A is less likely to occur, ensuring that the cutting edge portion 10A cuts well over a long period of time.

Also, irrespective of the manner in which the profiling portion 10B abuts against an object to be processed, where the shape is unstable like a resin part or when cutting off a burr formed in a curved shape, the cutting edge portion 10A can be restrained from digging into the material, enabling suppression of occurrence of a failure such as fracturing of the cutting edge portion 10A.

Although the wedge angle β is set to 15° to 80°, the wedge angle β is desirably 30° to 80°, more desirably 40° to 60°, even more desirably 45° to 55°.

It has been found out that where the wedge angle β is 45° to 55°, damage such as chipping, breakage and/or abrasion of the cutting edge portion 10A is least likely to occur, a durability of the cutter blade 10 is enhanced and the cutting edge portion 10A cuts best.

Deburring processing operation using the above-described cutter blade 10 will be described below.

In FIGS. 1, 2 and 4, the six-axis vertical articulated robot 3 of the processing device 1 controls operation of the joints 3A to 3F so that an orientation and a drive direction of the cutter blade 10 of the arm distal end portion 3G become optimum, for a resin molding 20, which is an object to be processed, along a deburring path corresponding to a position where a burr 22 is formed. As described above, the sliding section 5 of the arm distal end portion 3G floats relative to the resin molding 20.

Therefore, in the present embodiment, in driving the arm distal end portion 3G based on path information obtained by direct teaching or an automatic path generation system, the pressures applied to the respective air supply ports are controlled. As a result, the sliding section 5 is driven by the pair of pneumatic cylinders 5A and 5A and the cutter blade 10 is pressed against the resin molding 20 at a predetermined pressure. The pressures applied to the respective air supply ports can automatically be changed according to the position of the cutter blade 10, and are consistently constant irrespective of the position of the cutter blade 10.

In this state, the profiling portion 10B is pressed against surface portions 23A and 23B of the resin molding 20 and is moved to cut off a burr 22 formed on a partition line (corresponding to a deburring path) 21 of the resin molding 20 along a root of the burr 22 by means of the cutting edge portion 10A and smooth the surface after the cutting by means of the profiling portion 10B.

As a result, the burr 22 of the resin molding 20 having an unstable shape can be removed at the root thereof without using an expensive control device, a workpiece positioning device or an expensive cutter blade and without the cutting edge portion 10A digging into the resin molding 20. Also, in the processing device 1 according to the present embodiment, the floating mechanism is provided and profiling control is performed, and thus, almost no work corresponding to a correction of a teaching position is required, enabling substantial processing time reduction.

As illustrated in FIG. 5, the blade edge of the cutting edge portion 10A is positioned behind the profiling portion 10B, and thus, even if there is a deformation in the resin molding 20, the cutting edge portion 10A can further be restrained from digging into the resin molding 20.

Also, as illustrated in FIGS. 2, 4 and 5, the cutter blade body 10C has a flat plate shape, and thus, enables the cutter blade 10 to easily follow the resin molding 20, enabling enhancement in processability.

Also, the cutter blade 10 is used for shaving processing, enabling enhancement in accuracy of finish of a processed surface of a processed object (resin molding 20), which is of a difficult-to-cut material.

FIG. 6 is a cross-sectional view illustrating another mode of use of the cutter blade 10 according to the first embodiment.

A position where the profiling portion 10B abuts against a workpiece varies according to, e.g., a posture of the six-axis vertical articulated robot 3 and/or a shape of the workpiece. In the mode in FIG. 6, processing is performed with the side surface 10 f of the cutter blade 10 away from a surface of a resin molding 20. Here, a positive rake angle α′ is small compared to the mode in FIG. 5. In this state, also, it has been found out that when the wedge angle β is set to 15° to 80°, damage such as chipping, breakage or abrasion of the cutting edge portion 10A is less likely to occur, the durability of the cutter blade 10 is enhanced and the cutter blade 10 cuts well.

Second Embodiment

FIG. 7 is a cross-sectional view illustrating a distal end part of a cutter blade 30 according to a second embodiment.

Components that are identical to those of the cutter blade 10 according to the first embodiment illustrated in FIG. 5 are provided with reference numerals that are the same as those of the cutter blade 10, and detailed description thereof will be omitted.

The cutter blade 30 includes a cutting edge portion 30A to be brought into abutment with and cut off a root of a burr 22, and profiling portion 10B to be pressed against surface portions 23A and 23B (only the surface portion 23B illustrated) of a resin molding 20 by a floating mechanism.

The cutting edge portion 30A includes a cutting edge 30 g corresponding to a ridgeline formed by a rake surface 30 e and a side surface 30 f positioned on the resin molding 20 side of the cutter blade 30.

A wedge angle β of the cutting edge portion 30A is set to 93° to 120°. In the mode of use in FIG. 7, the side surface 30 f of the cutter blade 30 is in abutment with a surface of the resin molding 20, and an angle resulting from a negative rake angle α being subtracted from the wedge angle β is 90°.

Also, the profiling portion 10B is positioned ahead of the cutting edge 30 g (blade edge) of the cutting edge portion 30A in an advancement direction (arrow B direction), and includes a rounded surface portion 10B1 having a circular arc shape in cross section and extending ahead from the cutting edge 30 g of the cutting edge portion 30A in the advancement direction (arrow B direction).

Besides deburring processing, the cutter blade 30 can perform shaving processing of shaving a ridge, a projection or the like formed on a surface of a resin molding 20 like a chisel or the like to flatten the surface of the resin molding 20. In this case, the cutter blade 30 is biased against the resin molding 20, which is similar to the cases described above.

For example, if the wedge angle β of the cutting edge portion 30A is 90° <β<93°, a cut amount is large, which causes chatter vibration, resulting in deterioration in finish of the processed surface. If the wedge angle β exceeds 120°, the cut amount is smaller, resulting in failure to sufficiently remove the burr.

On the other hand, in the present embodiment, as described above, as a result of a large wedge angle β of 93° to 120° being set for the cutting edge portion 30A, even with a difficult-to-cut material like a composite material such as FRP, CFRP or GFRP, damage such as chipping, breakage and/or abrasion of the cutting edge portion 30A is less likely to occur, ensuring that the cutting edge portion 30A cuts well over a long period of time.

Also, the negative rake angle of the cutting edge portion 30A enables smoothing the surface after the removal of the burr 22, enabling the processed surface to be smoother. Also, chatter vibration is less likely to occur, ensuring a sufficient cut amount.

Although the wedge angle β is set to 93° to 120°, the wedge angle β may be 95° to 120°, and is desirably 95° to 115°, more desirably 95° to 100°.

It has been found out that where the wedge angle β is 95° to 100°, damage such as chipping, breakage and/or abrasion of the cutting edge portion 30A is least likely to occur, a durability of the cutter blade 10 is enhanced and the cutting edge portion 10A cuts best.

In the cutter blades 10 and 30 in FIGS. 5 and 6, even if the cutter blades 10 and 30 are formed so as to have a wedge angle β of 80° <β<93°, the cutter blades 10 and 30 can be used for deburring processing, depending on, e.g., a material, a hardness and/or a shape of an object to be processed and/or the type of the cutter blade.

A processing device 1 in which pneumatic cylinders 5A and 5A are provided in a six-axis vertical articulated robot 3 and a cutter blade 10 or 30 is provided in the six-axis vertical articulated robot 3 via the pneumatic cylinders 5A and 5A includes a cutter blade 30 that includes profiling portion 10B corresponding to a resin molding 20 and that further includes a cutting edge portion 30A including a blade edge positioned in the vicinity of the profiling portion 10B and having a wedge angle β of 15° to 120°, the profiling portion 10B and the cutting edge portion 30A being integrated, and thus, the wedge angle β of the cutting edge portion 10A or 30A included in the processing device 1 is made to be large compared to those of the conventional techniques, enabling processing of a composite material, for example, FRP, CFRP or GFRP, which is a difficult-to-cut material without damage such as chipping of the cutting edge portion 30A.

Accordingly, the need to use an expensive cutter blade and/or employ a special processing method for lifetime extension can be eliminated, enabling suppression of increase in costs of the processing device 1.

Also, the provision of the profiling portion 10B enables the cutting edge portion 10A or 30A to be restrained from digging into a resin molding 20.

Also, in the cutter blade 30, the blade edge of the cutting edge portion 30A is positioned behind the profiling portion 10B, and thus, even if there is a deformation in the resin molding 20, the cutting edge portion 30A can further be restrained from digging into the resin molding 20.

Also, the cutter blade 30 shaves the resin molding 20, enabling enhancement in accuracy of finish of the processed surface of the processed object (resin molding 20), which is of a difficult-to-cut material.

Third Embodiment

FIG. 8 is a cross-sectional view illustrating a distal end part of a cutter blade 35 according to a third embodiment.

Components that are identical to those of the first embodiment illustrated in FIG. 5 are provided with reference numerals that are the same as those of the first embodiment, and detailed description thereof will be omitted.

The cutter blade 35 includes a cutting edge portion 35A to be brought into abutment with and cut off a root of a burr 22, and a profiling surface 35 f, which serves as a profiling portion to be pressed against surface portions 23A and 23B (only the surface portion 23B illustrated) of a resin molding 20 by a floating mechanism. The cutting edge portion 35A includes a cutting edge 35 g corresponding to a ridgeline formed by a rake surface 35 e and the profiling surface 35 f.

A wedge angle β of the cutting edge portion 35A is set to 15° to 80°. The profiling surface 35 f includes the cutting edge 35 g, and the profiling surface 35 f extends rearward from the cutting edge 35 g (blade edge) in an advancement direction (arrow B direction).

Besides deburring processing, the cutter blade 35 can perform shaving processing of shaving a ridge, a projection or the like formed on a surface of a resin molding 20 like a chisel or the like to flatten the surface of the resin molding 20. In this case, the cutter blade 35 is biased against the resin molding 20, which is similar to the cases described above.

In the cutting edge portion 35A, the cutting edge 35 g (blade edge) is positioned at a distal end portion of the profiling surface 35 f, allowing the profiling surface 35 f, which forms a part of the cutting edge 35 g, to serves as a profiling portion, and thus, the cutter blade 35 can be formed in a simple shape, enabling cost reduction.

Although the wedge angle β is set to 15° to 80°, the wedge angle β is desirably 30° to 80°, more desirably 40° to 60°, even more desirably 45° to 55°.

It has been found out that there the wedge angle β is 45° to 55°, damages such as chipping, breakage and/or abrasion of the cutting edge portion 35A is least likely to occur, a durability of the cutter blade 35 is enhanced and the cutting edge portion 35A cuts best.

Fourth Embodiment

FIG. 9 is a cross-sectional view illustrating a distal end part of a cutter blade 40 according to a fourth embodiment.

Components that are identical to those of the second embodiment illustrated in FIG. 7 are provided with reference numerals that are the same as those of the second embodiment, and detailed description thereof will be omitted.

The cutter blade 40 includes a cutting edge portion 40A to be brought into abutment with and cut off a root of a burr 22, and a profiling surface 40 f, which serves as a profiling portion to be pressed against surface portions 23A and 23B (only the surface portion 23B illustrated) of a resin molding 20 by a floating mechanism. The cutting edge portion 40A includes a cutting edge 40 g corresponding to a ridgeline formed by a rake surface 40 e and the profiling surface 40 f.

A wedge angle β of the cutting edge portion 40A is set to 93° to 120°. The profiling surface 40 f includes the cutting edge 40 g, and the profiling surface 40 f extends rearward from the cutting edge 40 g (blade edge) in an advancement direction (arrow B direction).

Fifth Embodiment

FIG. 10 is a cross-sectional view illustrating a distal end part of a cutter blade 42 according to a fifth embodiment. Components that are identical to those of the first embodiment illustrated in FIG. 5 and the third embodiment illustrated in FIG. 8 are provided with reference numerals that are the same as those of the first and third embodiments, and detailed description thereof will be omitted.

The cutter blade 42 includes a cutting edge portion 42A to be brought into abutment with and cut off a root of a burr 22, and a profiling surface 42 f, which serves as a profiling portion to be pressed against surface portions 23A and 23B (only the surface portion 23B illustrated) of a resin molding 20 by a floating mechanism. The cutting edge portion 42A includes a cutting edge 42 g corresponding to a ridgeline formed by a rake surface 42 e and the profiling surface 42 f.

A wedge angle β of the rake surface 42 e is set to 15° to 80°. The profiling surface 42 f includes the cutting edge 42 g, and the profiling surface 42 f extends rearward from the cutting edge 42 g (blade edge) in an advancement direction (arrow B direction). Behind the profiling surface 42 f, the cutter blade 42 includes a clearance portion 42 j away from the surface portions 23A and 23B.

For example, if the wedge angle β of the cutting edge portion 42A exceeds 80°, the cutting edge portion 42A cuts poorly. Also, if the wedge angle β of the cutting edge portion 42A is less than 15°, damage such as chipping, breakage and/or abrasion of the cutting edge portion 42A is likely to occur.

Although the wedge angle β is set to 15 to 80, the wedge angle β is desirably 30° to 80°, more desirably 40° to 60°, even more desirably 45° to 55°.

It has been found out that when the wedge angle β is 45° to 55°, damage such as chipping, breakage and/or abrasion of the cutting edge portion 42A is least likely to occur, a durability of the cutter blade 42 is enhanced and the cutting edge portion 42A cuts best.

Sixth Embodiment

FIG. 11 is a cross-sectional view illustrating a distal end part of a cutter blade 44 according to a sixth embodiment.

Components that are identical to those of the second embodiment illustrated in FIG. 7 and the fourth embodiment illustrated in FIG. 9 are provided with reference numerals that are the same as those of the second and fourth embodiments, and detailed description thereof will be omitted.

The cutter blade 44 includes a cutting edge portion 44A to be brought into abutment with and cut off a root of a burr 22, and a profiling surface 44 f, which serves as a profiling portion to be pressed against surface portions 23A and 23B (only the surface portion 23B illustrated) of a resin molding 20 by a floating mechanism. The cutting edge portion 44A includes a cutting edge 44 g corresponding to a ridgeline formed by a rake surface 44 e and the profiling surface 44 f.

A wedge angle β of the cutting edge portion 44A is set to 93° to 120°. The profiling surface 44 f includes the cutting edge 44 g, and the profiling surface 44 f extends rearward from the cutting edge 44 g (blade edge) in an advancement direction (arrow B direction). Behind the profiling surface 44 f, the cutter blade 44 includes a clearance portion 44 j away from the surface portions 23A and 23B.

If the wedge angle β of cutting edge portion 44A is 90 <β<93°, a cut amount is large, which causes chatter vibration, resulting in deterioration in finish of the processed surface. If the wedge angle β exceeds 120°, the cut amount is small, resulting in failure to sufficiently remove the burr.

In each of the above-described cutter blades illustrated in FIGS. 8 to 11, even if the cutter blade is formed so as to have a wedge angle β of 80° <β<93°, the cutter blade can be used for deburring processing, depending on, e.g., a material, a hardness and/or a shape of an object to be processed and/or the type of the cutter blade.

Each of the above-described embodiments is definitely an aspect of the present invention and can arbitrarily be altered and applied without departing the spirit of the present invention.

For example, in the above-described embodiments, as illustrated in FIG. 2, the biasing mechanism is provided by the pneumatic cylinders 5A, but the biasing mechanism is not limited to that provided by the pneumatic cylinders 5A, and may be provided by other means such as a spring or a solenoid.

Also, as illustrated in FIG. 1, the processing device 1 includes the six-axis vertical articulated robot 3; however, the present invention is not limited to this case, and the processing device 1 may include another type of robot.

Also, the above-described cutter blade 10 can be ultrasonically vibrated in a direction (arrow C direction (see FIG. 3)) substantially perpendicular to the advancement direction (arrow B direction (see FIG. 3)) of the cutter blade 10, according to vibration of the ultrasonic transducer 7. An ultrasonic unit (not illustrated) is connected to the ultrasonic transducer 7, enabling the cutter blade 10 to be driven with an amplitude of, for example, around 30 to 50 μm by the ultrasonic unit.

Although in each of the above-described embodiments, the cutter blade 10 is not ultrasonically vibrated during deburring processing, deburring processing may be performed with the cutter blade 10 ultrasonically vibrated, depending on, e.g., a material, a hardness or a shape of an object to be processed.

Also, although the present embodiments have been described in terms of cases where the profiling portion or the profiling surface of the cutter blade 10 is brought into abutment with a part of an object to be processed, the present invention is not limited to these cases and processing may be performed with only the cutting edge portion 10A abutted against an object to be processed without the profiling portion 10B of the cutter blade 10 being abutted against the object to be processed.

REFERENCE SINGS LIST

1 processing device

3 six-axis vertical articulated robot (robot)

5A pneumatic cylinder (biasing mechanism)

10, 30, 35, 40, 42, 44 cutter blade

10A, 30A, 35A, 40A, 42A, 44A cutting edge portion

10B profiling portion

10C cutter blade body

20 resin molding (workpiece)

35 f, 40 f, 42 f, 44 f profiling surface (profiling portion)

β wedge angle 

1-5. (canceled)
 6. A cutter blade to be attached to a robot via a biasing mechanism, the cutter blade comprising: a profiling surface to be pressed against a surface portion of a workpiece by the biasing mechanism, and a cutting edge portion including a blade edge positioned on a ridgeline formed by the profiling surface and a rake surface, the cutting edge portion including a clearance portion behind the profiling surface, being vibrated by a transducer and having a wedge angle of 30° to 80°, the profiling surface and the cutting edge portion being integrated.
 7. A cutter blade to be attached to a robot via a biasing mechanism, the cutter blade comprising: a profiling surface to be pressed against a surface portion of a workpiece by the biasing mechanism, and a cutting edge portion including a blade edge positioned on a ridgeline formed by the profiling surface and a rake surface, the cutting edge portion including a clearance portion behind the profiling surface and having a wedge angle of 95° to 115°, the profiling surface and the cutting edge portion being integrated.
 8. The cutter blade according to claim 6, wherein a cutter blade body has a flat plate shape.
 9. The cutter blade according to claim 7, wherein a cutter blade body has a flat plate shape.
 10. A processing device including a cutter blade provided in a robot via a biasing mechanism, the cutter blade comprising: a profiling surface to be pressed against a surface portion of a workpiece by the biasing mechanism, and a cutting edge portion including a blade edge positioned on a ridgeline formed by the profiling surface and a rake surface, the cutting edge portion including a clearance portion behind the profiling surface, being vibrated by a transducer and having a wedge angle of 30° to 80°, the profiling surface and the cutting edge portion being integrated.
 11. A processing device including a cutter blade provided in a robot via a biasing mechanism, the cutter blade comprising: a profiling surface to be pressed against a surface portion of a workpiece by the biasing mechanism, and a cutting edge portion including a blade edge positioned on a ridgeline formed by the profiling surface and a rake surface, the cutting edge portion including a clearance portion behind the profiling surface and having a wedge angle of 95° to 115°, the profiling surface and the cutting edge portion being integrated. 